DART  6.10.1
dart::dynamics::WorldFrame Class Reference

The WorldFrame class is a class that is used internally to create the singleton World Frame. More...

#include <Frame.hpp>

Inheritance diagram for dart::dynamics::WorldFrame:
dart::dynamics::Frame dart::dynamics::Entity dart::common::Subject

Public Types

using EntitySignal = common::Signal< void(const Entity *)>
 
using FrameChangedSignal = common::Signal< void(const Entity *, const Frame *_oldFrame, const Frame *_newFrame)>
 
using NameChangedSignal = common::Signal< void(const Entity *, const std::string &_oldName, const std::string &_newName)>
 

Public Member Functions

const Eigen::Isometry3d & getRelativeTransform () const override final
 Always returns the Identity Transform. More...
 
const Eigen::Vector6dgetRelativeSpatialVelocity () const override final
 Always returns a zero vector. More...
 
const Eigen::Vector6dgetRelativeSpatialAcceleration () const override final
 Always returns a zero vector. More...
 
const Eigen::Vector6dgetPrimaryRelativeAcceleration () const override final
 Always returns a zero vector. More...
 
const Eigen::Vector6dgetPartialAcceleration () const override final
 Always returns a zero vector. More...
 
const std::string & setName (const std::string &name) override final
 Set name. More...
 
const std::string & getName () const override final
 Return the name of this Entity. More...
 
const Eigen::Isometry3d & getWorldTransform () const
 Get the transform of this Frame with respect to the World Frame. More...
 
Eigen::Isometry3d getTransform (const Frame *_withRespectTo=Frame::World()) const
 Get the transform of this Frame with respect to some other Frame. More...
 
Eigen::Isometry3d getTransform (const Frame *withRespectTo, const Frame *inCoordinatesOf) const
 Get the transform of this Frame with respect to some other Frame. More...
 
const Eigen::Vector6dgetSpatialVelocity () const
 Get the total spatial velocity of this Frame in the coordinates of this Frame. More...
 
Eigen::Vector6d getSpatialVelocity (const Frame *_relativeTo, const Frame *_inCoordinatesOf) const
 Get the spatial velocity of this Frame relative to some other Frame. More...
 
Eigen::Vector6d getSpatialVelocity (const Eigen::Vector3d &_offset) const
 Get the spatial velocity of a fixed point in this Frame. More...
 
Eigen::Vector6d getSpatialVelocity (const Eigen::Vector3d &_offset, const Frame *_relativeTo, const Frame *_inCoordinatesOf) const
 Get the spatial velocity of a fixed point in this Frame. More...
 
Eigen::Vector3d getLinearVelocity (const Frame *_relativeTo=Frame::World(), const Frame *_inCoordinatesOf=Frame::World()) const
 Get the linear portion of classical velocity of this Frame relative to some other Frame. More...
 
Eigen::Vector3d getLinearVelocity (const Eigen::Vector3d &_offset, const Frame *_relativeTo=Frame::World(), const Frame *_inCoordinatesOf=Frame::World()) const
 Get the linear velocity of a point that is fixed in this Frame. More...
 
Eigen::Vector3d getAngularVelocity (const Frame *_relativeTo=Frame::World(), const Frame *_inCoordinatesOf=Frame::World()) const
 Get the angular portion of classical velocity of this Frame relative to some other Frame. More...
 
const Eigen::Vector6dgetSpatialAcceleration () const
 Get the total spatial acceleration of this Frame in the coordinates of this Frame. More...
 
Eigen::Vector6d getSpatialAcceleration (const Frame *_relativeTo, const Frame *_inCoordinatesOf) const
 Get the spatial acceleration of this Frame relative to some other Frame. More...
 
Eigen::Vector6d getSpatialAcceleration (const Eigen::Vector3d &_offset) const
 Get the spatial acceleration of a fixed point in this Frame. More...
 
Eigen::Vector6d getSpatialAcceleration (const Eigen::Vector3d &_offset, const Frame *_relativeTo, const Frame *_inCoordinatesOf) const
 Get the spatial acceleration of a fixed point in this Frame. More...
 
Eigen::Vector3d getLinearAcceleration (const Frame *_relativeTo=Frame::World(), const Frame *_inCoordinatesOf=Frame::World()) const
 Get the linear portion of classical acceleration of this Frame relative to some other Frame. More...
 
Eigen::Vector3d getLinearAcceleration (const Eigen::Vector3d &_offset, const Frame *_relativeTo=Frame::World(), const Frame *_inCoordinatesOf=Frame::World()) const
 
Eigen::Vector3d getAngularAcceleration (const Frame *_relativeTo=Frame::World(), const Frame *_inCoordinatesOf=Frame::World()) const
 Get the angular portion of classical acceleration of this Frame relative to some other Frame. More...
 
const std::set< Entity * > & getChildEntities ()
 Get a container with the Entities that are children of this Frame. More...
 
const std::set< const Entity * > getChildEntities () const
 Get a container with the Entities that are children of this Frame. More...
 
std::size_t getNumChildEntities () const
 Get the number of Entities that are currently children of this Frame. More...
 
const std::set< Frame * > & getChildFrames ()
 Get a container with the Frames that are children of this Frame. More...
 
std::set< const Frame * > getChildFrames () const
 Get a container with the Frames that are children of this Frame. More...
 
std::size_t getNumChildFrames () const
 Get the number of Frames that are currently children of this Frame. More...
 
bool isShapeFrame () const
 Returns true if this Frame is a ShapeFrame. More...
 
virtual ShapeFrameasShapeFrame ()
 Convert 'this' into a ShapeFrame pointer if Frame is a ShapeFrame, otherwise return nullptr. More...
 
virtual const ShapeFrameasShapeFrame () const
 Convert 'const this' into a ShapeFrame pointer if Frame is a ShapeFrame, otherwise return nullptr. More...
 
bool isWorld () const
 Returns true if this Frame is the World Frame. More...
 
virtual void dirtyTransform () override
 Notify the transformation updates of this Frame and all its children are needed. More...
 
virtual void dirtyVelocity () override
 Notify the velocity updates of this Frame and all its children are needed. More...
 
virtual void dirtyAcceleration () override
 Notify the acceleration updates of this Frame and all its children are needed. More...
 
FramegetParentFrame ()
 Get the parent (reference) frame of this Entity. More...
 
const FramegetParentFrame () const
 Get the parent (reference) frame of this Entity. More...
 
bool descendsFrom (const Frame *_someFrame) const
 Returns true if and only if this Entity is itself (i.e. More...
 
bool isFrame () const
 True iff this Entity is also a Frame. More...
 
bool isQuiet () const
 Returns true if this Entity is set to be quiet. More...
 
virtual void notifyTransformUpdate ()
 Notify the transformation update of this Entity that its parent Frame's pose is needed. More...
 
bool needsTransformUpdate () const
 Returns true iff a transform update is needed for this Entity. More...
 
virtual void notifyVelocityUpdate ()
 Notify the velocity update of this Entity that its parent Frame's velocity is needed. More...
 
bool needsVelocityUpdate () const
 Returns true iff a velocity update is needed for this Entity. More...
 
virtual void notifyAccelerationUpdate ()
 Notify the acceleration of this Entity that its parent Frame's acceleration is needed. More...
 
bool needsAccelerationUpdate () const
 Returns true iff an acceleration update is needed for this Entity. More...
 

Static Public Member Functions

static FrameWorld ()
 
static std::shared_ptr< FrameWorldShared ()
 

Protected Types

enum  ConstructAbstractTag { ConstructAbstract }
 Used when constructing a pure abstract class, because calling the Frame constructor is just a formality. More...
 
enum  ConstructFrameTag { ConstructFrame }
 Used when constructing a Frame class, because the Frame constructor will take care of setting up the parameters you pass into it. More...
 

Protected Member Functions

virtual void changeParentFrame (Frame *_newParentFrame) override
 Used by derived classes to change their parent frames. More...
 
virtual void processNewEntity (Entity *_newChildEntity)
 Called during a parent Frame change to allow extensions of the Frame class to handle new children in customized ways. More...
 
virtual void processRemovedEntity (Entity *_oldChildEntity)
 Called when a child Entity is removed from its parent Frame. More...
 
void sendDestructionNotification () const
 Send a destruction notification to all Observers. More...
 
void addObserver (Observer *_observer) const
 Add an Observer to the list of Observers. More...
 
void removeObserver (Observer *_observer) const
 Remove an Observer from the list of Observers. More...
 

Protected Attributes

Eigen::Isometry3d mWorldTransform
 World transform of this Frame. More...
 
Eigen::Vector6d mVelocity
 Total velocity of this Frame, in the coordinates of this Frame. More...
 
Eigen::Vector6d mAcceleration
 Total acceleration of this Frame, in the coordinates of this Frame. More...
 
std::set< Frame * > mChildFrames
 Container of this Frame's child Frames. More...
 
std::set< Entity * > mChildEntities
 Container of this Frame's child Entities. More...
 
FramemParentFrame
 Parent frame of this Entity. More...
 
bool mNeedTransformUpdate
 Does this Entity need a Transform update. More...
 
bool mNeedVelocityUpdate
 Does this Entity need a Velocity update. More...
 
bool mNeedAccelerationUpdate
 Does this Entity need an Acceleration update. More...
 
FrameChangedSignal mFrameChangedSignal
 Frame changed signal. More...
 
NameChangedSignal mNameChangedSignal
 Name changed signal. More...
 
EntitySignal mTransformUpdatedSignal
 Transform changed signal. More...
 
EntitySignal mVelocityChangedSignal
 Velocity changed signal. More...
 
EntitySignal mAccelerationChangedSignal
 Acceleration changed signal. More...
 
std::set< Observer * > mObservers
 List of current Observers. More...
 

Private Types

enum  ConstructWorldTag { ConstructWorld }
 Used when constructing the World. More...
 

Private Member Functions

 WorldFrame ()
 This may only be constructed by the Frame class. More...
 

Private Attributes

const Eigen::Isometry3d mRelativeTf
 This is set to Identity and never changes. More...
 
const bool mAmWorld
 Contains whether or not this is the World Frame. More...
 
bool mAmShapeFrame
 Contains whether or not this is a ShapeFrame. More...
 

Static Private Attributes

static const Eigen::Vector6d mZero = Eigen::Vector6d::Zero()
 This is set to a Zero vector and never changes. More...
 

Friends

class Frame
 

Slot registers

const bool mAmQuiet
 Whether or not this Entity is set to be quiet. More...
 
bool mAmFrame
 Whether or not this Entity is a Frame. More...
 
common::SlotRegister< FrameChangedSignalonFrameChanged
 Slot register for frame changed signal. More...
 
common::SlotRegister< NameChangedSignalonNameChanged
 Slot register for name changed signal. More...
 
common::SlotRegister< EntitySignalonTransformUpdated
 Slot register for transform updated signal. More...
 
common::SlotRegister< EntitySignalonVelocityChanged
 Slot register for velocity updated signal. More...
 
common::SlotRegister< EntitySignalonAccelerationChanged
 Slot register for acceleration updated signal. More...
 

Detailed Description

The WorldFrame class is a class that is used internally to create the singleton World Frame.

This class cannot be instantiated directly: you must use the Frame::World() function to access it. Only one World Frame exists in any application.

Member Typedef Documentation

◆ EntitySignal

◆ FrameChangedSignal

using dart::dynamics::Entity::FrameChangedSignal = common::Signal<void( const Entity*, const Frame* _oldFrame, const Frame* _newFrame)>
inherited

◆ NameChangedSignal

using dart::dynamics::Entity::NameChangedSignal = common::Signal<void( const Entity*, const std::string& _oldName, const std::string& _newName)>
inherited

Member Enumeration Documentation

◆ ConstructAbstractTag

Used when constructing a pure abstract class, because calling the Frame constructor is just a formality.

Enumerator
ConstructAbstract 

◆ ConstructFrameTag

Used when constructing a Frame class, because the Frame constructor will take care of setting up the parameters you pass into it.

Enumerator
ConstructFrame 

◆ ConstructWorldTag

Used when constructing the World.

Enumerator
ConstructWorld 

Constructor & Destructor Documentation

◆ WorldFrame()

dart::dynamics::WorldFrame::WorldFrame ( )
explicitprivate

This may only be constructed by the Frame class.

Member Function Documentation

◆ addObserver()

void dart::common::Subject::addObserver ( Observer _observer) const
protectedinherited

Add an Observer to the list of Observers.

◆ asShapeFrame() [1/2]

ShapeFrame * dart::dynamics::Frame::asShapeFrame ( )
virtualinherited

Convert 'this' into a ShapeFrame pointer if Frame is a ShapeFrame, otherwise return nullptr.

Reimplemented in dart::dynamics::ShapeFrame.

◆ asShapeFrame() [2/2]

const ShapeFrame * dart::dynamics::Frame::asShapeFrame ( ) const
virtualinherited

Convert 'const this' into a ShapeFrame pointer if Frame is a ShapeFrame, otherwise return nullptr.

Reimplemented in dart::dynamics::ShapeFrame.

◆ changeParentFrame()

void dart::dynamics::Frame::changeParentFrame ( Frame _newParentFrame)
overrideprotectedvirtualinherited

Used by derived classes to change their parent frames.

Reimplemented from dart::dynamics::Entity.

◆ descendsFrom()

bool dart::dynamics::Entity::descendsFrom ( const Frame _someFrame) const
inherited

Returns true if and only if this Entity is itself (i.e.

this == _someFrame) or depends on (i.e. kinematically descends from) _someFrame.

If _someFrame is nullptr, this returns true in order to accommodate BodyNodes which always have a nullptr BodyNode as the parent of a root BodyNode.

◆ dirtyAcceleration()

void dart::dynamics::Frame::dirtyAcceleration ( )
overridevirtualinherited

Notify the acceleration updates of this Frame and all its children are needed.

Reimplemented from dart::dynamics::Entity.

Reimplemented in dart::dynamics::BodyNode.

◆ dirtyTransform()

void dart::dynamics::Frame::dirtyTransform ( )
overridevirtualinherited

Notify the transformation updates of this Frame and all its children are needed.

Reimplemented from dart::dynamics::Entity.

Reimplemented in dart::dynamics::BodyNode.

◆ dirtyVelocity()

void dart::dynamics::Frame::dirtyVelocity ( )
overridevirtualinherited

Notify the velocity updates of this Frame and all its children are needed.

Reimplemented from dart::dynamics::Entity.

Reimplemented in dart::dynamics::BodyNode.

◆ getAngularAcceleration()

Eigen::Vector3d dart::dynamics::Frame::getAngularAcceleration ( const Frame _relativeTo = Frame::World(),
const Frame _inCoordinatesOf = Frame::World() 
) const
inherited

Get the angular portion of classical acceleration of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getAngularVelocity()

Eigen::Vector3d dart::dynamics::Frame::getAngularVelocity ( const Frame _relativeTo = Frame::World(),
const Frame _inCoordinatesOf = Frame::World() 
) const
inherited

Get the angular portion of classical velocity of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getChildEntities() [1/2]

const std::set< Entity * > & dart::dynamics::Frame::getChildEntities ( )
inherited

Get a container with the Entities that are children of this Frame.

std::set is used because Entities may be arbitrarily added and removed from a parent Frame, and each entry should be unique. std::set makes this procedure easier.

◆ getChildEntities() [2/2]

const std::set< const Entity * > dart::dynamics::Frame::getChildEntities ( ) const
inherited

Get a container with the Entities that are children of this Frame.

Note that this is version is slightly less efficient than the non-const version because it needs to rebuild a set where each pointer is converted to be a const pointer.

◆ getChildFrames() [1/2]

const std::set< Frame * > & dart::dynamics::Frame::getChildFrames ( )
inherited

Get a container with the Frames that are children of this Frame.

std::set is used because Frames may be arbitrarily added and removed from a parent Frame, and each entry should be unique.

◆ getChildFrames() [2/2]

std::set< const Frame * > dart::dynamics::Frame::getChildFrames ( ) const
inherited

Get a container with the Frames that are children of this Frame.

Note that this version is less efficient than the non-const version because it needs to rebuild a set so that the entries are const.

◆ getLinearAcceleration() [1/2]

Eigen::Vector3d dart::dynamics::Frame::getLinearAcceleration ( const Eigen::Vector3d &  _offset,
const Frame _relativeTo = Frame::World(),
const Frame _inCoordinatesOf = Frame::World() 
) const
inherited

◆ getLinearAcceleration() [2/2]

Eigen::Vector3d dart::dynamics::Frame::getLinearAcceleration ( const Frame _relativeTo = Frame::World(),
const Frame _inCoordinatesOf = Frame::World() 
) const
inherited

Get the linear portion of classical acceleration of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getLinearVelocity() [1/2]

Eigen::Vector3d dart::dynamics::Frame::getLinearVelocity ( const Eigen::Vector3d &  _offset,
const Frame _relativeTo = Frame::World(),
const Frame _inCoordinatesOf = Frame::World() 
) const
inherited

Get the linear velocity of a point that is fixed in this Frame.

You can specify a relative Frame, and it can be expressed in the coordinates of any Frame.

◆ getLinearVelocity() [2/2]

Eigen::Vector3d dart::dynamics::Frame::getLinearVelocity ( const Frame _relativeTo = Frame::World(),
const Frame _inCoordinatesOf = Frame::World() 
) const
inherited

Get the linear portion of classical velocity of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getName()

const std::string & dart::dynamics::WorldFrame::getName ( ) const
finaloverridevirtual

Return the name of this Entity.

Implements dart::dynamics::Entity.

◆ getNumChildEntities()

std::size_t dart::dynamics::Frame::getNumChildEntities ( ) const
inherited

Get the number of Entities that are currently children of this Frame.

◆ getNumChildFrames()

std::size_t dart::dynamics::Frame::getNumChildFrames ( ) const
inherited

Get the number of Frames that are currently children of this Frame.

◆ getParentFrame() [1/2]

Frame * dart::dynamics::Entity::getParentFrame ( )
inherited

Get the parent (reference) frame of this Entity.

◆ getParentFrame() [2/2]

const Frame * dart::dynamics::Entity::getParentFrame ( ) const
inherited

Get the parent (reference) frame of this Entity.

◆ getPartialAcceleration()

const Eigen::Vector6d & dart::dynamics::WorldFrame::getPartialAcceleration ( ) const
finaloverridevirtual

Always returns a zero vector.

Implements dart::dynamics::Frame.

◆ getPrimaryRelativeAcceleration()

const Eigen::Vector6d & dart::dynamics::WorldFrame::getPrimaryRelativeAcceleration ( ) const
finaloverridevirtual

Always returns a zero vector.

Implements dart::dynamics::Frame.

◆ getRelativeSpatialAcceleration()

const Eigen::Vector6d & dart::dynamics::WorldFrame::getRelativeSpatialAcceleration ( ) const
finaloverridevirtual

Always returns a zero vector.

Implements dart::dynamics::Frame.

◆ getRelativeSpatialVelocity()

const Eigen::Vector6d & dart::dynamics::WorldFrame::getRelativeSpatialVelocity ( ) const
finaloverridevirtual

Always returns a zero vector.

Implements dart::dynamics::Frame.

◆ getRelativeTransform()

const Eigen::Isometry3d & dart::dynamics::WorldFrame::getRelativeTransform ( ) const
finaloverridevirtual

Always returns the Identity Transform.

Implements dart::dynamics::Frame.

◆ getSpatialAcceleration() [1/4]

const Eigen::Vector6d & dart::dynamics::Frame::getSpatialAcceleration ( ) const
inherited

Get the total spatial acceleration of this Frame in the coordinates of this Frame.

◆ getSpatialAcceleration() [2/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialAcceleration ( const Eigen::Vector3d &  _offset) const
inherited

Get the spatial acceleration of a fixed point in this Frame.

The acceleration is in coordinates of this Frame and is relative to the World Frame.

◆ getSpatialAcceleration() [3/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialAcceleration ( const Eigen::Vector3d &  _offset,
const Frame _relativeTo,
const Frame _inCoordinatesOf 
) const
inherited

Get the spatial acceleration of a fixed point in this Frame.

◆ getSpatialAcceleration() [4/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialAcceleration ( const Frame _relativeTo,
const Frame _inCoordinatesOf 
) const
inherited

Get the spatial acceleration of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getSpatialVelocity() [1/4]

const Eigen::Vector6d & dart::dynamics::Frame::getSpatialVelocity ( ) const
inherited

Get the total spatial velocity of this Frame in the coordinates of this Frame.

◆ getSpatialVelocity() [2/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialVelocity ( const Eigen::Vector3d &  _offset) const
inherited

Get the spatial velocity of a fixed point in this Frame.

The velocity is in coordinates of this Frame and is relative to the World Frame.

◆ getSpatialVelocity() [3/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialVelocity ( const Eigen::Vector3d &  _offset,
const Frame _relativeTo,
const Frame _inCoordinatesOf 
) const
inherited

Get the spatial velocity of a fixed point in this Frame.

◆ getSpatialVelocity() [4/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialVelocity ( const Frame _relativeTo,
const Frame _inCoordinatesOf 
) const
inherited

Get the spatial velocity of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getTransform() [1/2]

Eigen::Isometry3d dart::dynamics::Frame::getTransform ( const Frame _withRespectTo = Frame::World()) const
inherited

Get the transform of this Frame with respect to some other Frame.

◆ getTransform() [2/2]

Eigen::Isometry3d dart::dynamics::Frame::getTransform ( const Frame withRespectTo,
const Frame inCoordinatesOf 
) const
inherited

Get the transform of this Frame with respect to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getWorldTransform()

const Eigen::Isometry3d & dart::dynamics::Frame::getWorldTransform ( ) const
inherited

Get the transform of this Frame with respect to the World Frame.

◆ isFrame()

bool dart::dynamics::Entity::isFrame ( ) const
inherited

True iff this Entity is also a Frame.

◆ isQuiet()

bool dart::dynamics::Entity::isQuiet ( ) const
inherited

Returns true if this Entity is set to be quiet.

A quiet entity is unknown to its parent Frame. It will not be tracked by its parent; it will not receive notifications from its parent, and it will not be rendered. The advantage to a quiet Entity is that it has less overhead when constructing and deconstructing, which makes it more suitable for temporary objects.

◆ isShapeFrame()

bool dart::dynamics::Frame::isShapeFrame ( ) const
inherited

Returns true if this Frame is a ShapeFrame.

◆ isWorld()

bool dart::dynamics::Frame::isWorld ( ) const
inherited

Returns true if this Frame is the World Frame.

◆ needsAccelerationUpdate()

bool dart::dynamics::Entity::needsAccelerationUpdate ( ) const
inherited

Returns true iff an acceleration update is needed for this Entity.

◆ needsTransformUpdate()

bool dart::dynamics::Entity::needsTransformUpdate ( ) const
inherited

Returns true iff a transform update is needed for this Entity.

◆ needsVelocityUpdate()

bool dart::dynamics::Entity::needsVelocityUpdate ( ) const
inherited

Returns true iff a velocity update is needed for this Entity.

◆ notifyAccelerationUpdate()

void dart::dynamics::Entity::notifyAccelerationUpdate ( )
virtualinherited

Notify the acceleration of this Entity that its parent Frame's acceleration is needed.

◆ notifyTransformUpdate()

void dart::dynamics::Entity::notifyTransformUpdate ( )
virtualinherited

Notify the transformation update of this Entity that its parent Frame's pose is needed.

◆ notifyVelocityUpdate()

void dart::dynamics::Entity::notifyVelocityUpdate ( )
virtualinherited

Notify the velocity update of this Entity that its parent Frame's velocity is needed.

◆ processNewEntity()

void dart::dynamics::Frame::processNewEntity ( Entity _newChildEntity)
protectedvirtualinherited

Called during a parent Frame change to allow extensions of the Frame class to handle new children in customized ways.

This function is a no op unless an inheriting class (such as BodyNode) overrides it.

Reimplemented in dart::dynamics::BodyNode.

◆ processRemovedEntity()

void dart::dynamics::Frame::processRemovedEntity ( Entity _oldChildEntity)
protectedvirtualinherited

Called when a child Entity is removed from its parent Frame.

This allows special post-processing to be performed for extensions of the Frame class.

Reimplemented in dart::dynamics::BodyNode.

◆ removeObserver()

void dart::common::Subject::removeObserver ( Observer _observer) const
protectedinherited

Remove an Observer from the list of Observers.

◆ sendDestructionNotification()

void dart::common::Subject::sendDestructionNotification ( ) const
protectedinherited

Send a destruction notification to all Observers.

This will cause all Observers to behave as if this Subject has been permanently deleted, so it should only be called when that behavior is desired.

◆ setName()

const std::string & dart::dynamics::WorldFrame::setName ( const std::string &  _name)
finaloverridevirtual

Set name.

Some implementations of Entity may make alterations to the name that gets passed in. The final name that this entity will use gets passed back in the return of this function.

Implements dart::dynamics::Entity.

◆ World()

Frame * dart::dynamics::Frame::World ( )
staticinherited

◆ WorldShared()

std::shared_ptr< Frame > dart::dynamics::Frame::WorldShared ( )
staticinherited

Friends And Related Function Documentation

◆ Frame

friend class Frame
friend

Member Data Documentation

◆ mAcceleration

Eigen::Vector6d dart::dynamics::Frame::mAcceleration
mutableprotectedinherited

Total acceleration of this Frame, in the coordinates of this Frame.

Do not use directly! Use getSpatialAcceleration() to access this quantity

◆ mAccelerationChangedSignal

EntitySignal dart::dynamics::Entity::mAccelerationChangedSignal
protectedinherited

Acceleration changed signal.

◆ mAmFrame

bool dart::dynamics::Entity::mAmFrame
privateinherited

Whether or not this Entity is a Frame.

◆ mAmQuiet

const bool dart::dynamics::Entity::mAmQuiet
privateinherited

Whether or not this Entity is set to be quiet.

◆ mAmShapeFrame

bool dart::dynamics::Frame::mAmShapeFrame
privateinherited

Contains whether or not this is a ShapeFrame.

◆ mAmWorld

const bool dart::dynamics::Frame::mAmWorld
privateinherited

Contains whether or not this is the World Frame.

◆ mChildEntities

std::set<Entity*> dart::dynamics::Frame::mChildEntities
protectedinherited

Container of this Frame's child Entities.

◆ mChildFrames

std::set<Frame*> dart::dynamics::Frame::mChildFrames
protectedinherited

Container of this Frame's child Frames.

◆ mFrameChangedSignal

FrameChangedSignal dart::dynamics::Entity::mFrameChangedSignal
protectedinherited

Frame changed signal.

◆ mNameChangedSignal

NameChangedSignal dart::dynamics::Entity::mNameChangedSignal
protectedinherited

Name changed signal.

◆ mNeedAccelerationUpdate

bool dart::dynamics::Entity::mNeedAccelerationUpdate
mutableprotectedinherited

Does this Entity need an Acceleration update.

◆ mNeedTransformUpdate

bool dart::dynamics::Entity::mNeedTransformUpdate
mutableprotectedinherited

Does this Entity need a Transform update.

◆ mNeedVelocityUpdate

bool dart::dynamics::Entity::mNeedVelocityUpdate
mutableprotectedinherited

Does this Entity need a Velocity update.

◆ mObservers

std::set<Observer*> dart::common::Subject::mObservers
mutableprotectedinherited

List of current Observers.

◆ mParentFrame

Frame* dart::dynamics::Entity::mParentFrame
protectedinherited

Parent frame of this Entity.

◆ mRelativeTf

const Eigen::Isometry3d dart::dynamics::WorldFrame::mRelativeTf
private

This is set to Identity and never changes.

◆ mTransformUpdatedSignal

EntitySignal dart::dynamics::Entity::mTransformUpdatedSignal
protectedinherited

Transform changed signal.

◆ mVelocity

Eigen::Vector6d dart::dynamics::Frame::mVelocity
mutableprotectedinherited

Total velocity of this Frame, in the coordinates of this Frame.

Do not use directly! Use getSpatialVelocity() to access this quantity

◆ mVelocityChangedSignal

EntitySignal dart::dynamics::Entity::mVelocityChangedSignal
protectedinherited

Velocity changed signal.

◆ mWorldTransform

Eigen::Isometry3d dart::dynamics::Frame::mWorldTransform
mutableprotectedinherited

World transform of this Frame.

This object is mutable to enable auto-updating to happen in the const member getWorldTransform() function

Do not use directly! Use getWorldTransform() to access this quantity

◆ mZero

const Eigen::Vector6d dart::dynamics::WorldFrame::mZero = Eigen::Vector6d::Zero()
staticprivate

This is set to a Zero vector and never changes.

◆ onAccelerationChanged

common::SlotRegister<EntitySignal> dart::dynamics::Entity::onAccelerationChanged
inherited

Slot register for acceleration updated signal.

◆ onFrameChanged

common::SlotRegister<FrameChangedSignal> dart::dynamics::Entity::onFrameChanged
inherited

Slot register for frame changed signal.

◆ onNameChanged

common::SlotRegister<NameChangedSignal> dart::dynamics::Entity::onNameChanged
inherited

Slot register for name changed signal.

◆ onTransformUpdated

common::SlotRegister<EntitySignal> dart::dynamics::Entity::onTransformUpdated
inherited

Slot register for transform updated signal.

◆ onVelocityChanged

common::SlotRegister<EntitySignal> dart::dynamics::Entity::onVelocityChanged
inherited

Slot register for velocity updated signal.